User`s manual

http://www.adtechcn.com 43
) 4. Motion parameters detection
adt8840a_get_command_pos( )
Name int adt8840a_get_command_pos(int dev_num,int axis, long *pos)
Definition Get the logic position for each axis
Input parameter
dev_num: device number
axis: axis number (1 - 4)
Output
parameter
pos: pointer of logic position value
Return value
0: execution OK; 1: execution failure; -1: transmission abnormity; -2: response overtime;
-3: abnormal data received; -4: disabled device interface
Note
With this function, the logic position of the axis can be obtained at any time. When the
motor has not lost its step, it represents the current position of the axis.
adt8840a_get_actual_pos( )
Name int adt8840a_get_actual_pos(int dev_num,int axis, long *pos)
Definition Get the logic position for each axis
Input parameter
dev_num: device number
axis: axis number (1 - 4)
Output
parameter
pos: pointer of actual position value
Return value
0: execution OK; 1: execution failure; -1: transmission abnormity; -2: response overtime;
-3: abnormal data received; -4: disabled device interface
Note
With this function, the actual position of the axis can be obtained at any time. Even when
the motor lost its step, the user can know the current position of the axis.
The axis must be connected to encoder or grating ruler. This number actually represents the
number counted by the encoder or grating ruler.
adt8840a_get_speed( )
Name int adt8840a_ get_speed(int dev_num,int axis, long * value )
Definition Get the current drive velocity of each axis
Input parameter
dev_num: device number
axis: axis number (1 - 4)
Output
parameter
pos: pointer of current drive velocity
Return value
0: execution OK; 1: execution failure; -1: transmission abnormity; -2: response overtime;
-3: abnormal data received; -4: disabled device interface